CN114537342A

CN114537342A - Vehicle braking method and device, vehicle and storage medium

Info

Publication number: CN114537342A
Application number: CN202210272731.6A
Authority: CN
Inventors: 闫肖梅; 胡文超; 陶文勇; 陈士刚; 王瑛; 刘靓; 方磊; 王晓辉; 舒晖; 凤志民; 张�杰; 姚学松
Original assignee: Chery New Energy Automobile Co Ltd
Current assignee: Chery New Energy Automobile Co Ltd
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2022-05-27
Anticipated expiration: 2042-03-18
Also published as: CN114537342B

Abstract

The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for braking a vehicle, and a storage medium, where the method includes: collecting the distance between a current vehicle and a front obstacle; matching the optimal emergency braking mode according to the distance; and acquiring a target torque of a motor controller of the vehicle according to the optimal emergency braking mode, and electrically braking the vehicle according to the target torque. From this, the energy that produces when having solved and all releases with the form of heat energy in traditional hydraulic braking system, causes the extravagant scheduling problem of energy, thereby the distance through vehicle and barrier matches different emergency braking modes in order to obtain the target torque in order to realize the electric brake parking, and the effectual continuation of the journey mileage that has improved electric vehicle just is favorable to slowing down braking system's loss, finally realizes the quick and no shake emergency braking of vehicle.

Description

Vehicle braking method and device, vehicle and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for braking a vehicle, and a storage medium.

Background

With the rapid development of the vehicle industry and the continuous improvement of the living conditions of people, vehicles have become one of the indispensable vehicles of people. The increase of the vehicle utilization rate also means that the occurrence rate of traffic accidents is higher, and in order to improve the driving safety of users, many vehicles are provided with automatic emergency braking systems to ensure the driving safety of the users.

In the related art, a conventional hydraulic brake system is mostly used for emergency braking of a vehicle in the event of a collision risk.

However, the energy generated in the braking process of the conventional hydraulic braking system is released in the form of heat energy, which causes energy waste and accelerates the loss of the braking system, and thus a solution is needed.

Disclosure of Invention

The application provides a braking method, a braking device, a vehicle and a storage medium of the vehicle, energy generated when braking is carried out in a traditional hydraulic braking system is released in a heat energy mode, the problem of energy waste is caused, the distance between the vehicle and an obstacle is matched with different emergency braking modes to obtain a target torque so as to achieve electric braking parking, the cruising mileage of the electric vehicle is improved, the loss of a braking system is favorably reduced, and the rapid and shake-free emergency braking of the vehicle is finally achieved.

An embodiment of the first aspect of the present application provides a braking method for a vehicle, including the following steps:

collecting the distance between a current vehicle and a front obstacle;

matching an optimal emergency braking mode according to the distance; and

and acquiring a target torque of a motor controller of the vehicle according to the optimal emergency braking mode, and electrically braking the vehicle according to the target torque.

According to an embodiment of the application, said matching the optimal emergency braking mode according to said distance comprises:

obtaining a distance interval corresponding to the distance;

determining an emergency braking sign signal of the vehicle according to the distance interval;

and determining the optimal emergency braking mode according to the emergency braking sign signal.

According to an embodiment of the application, the obtaining of the target torque of the motor controller of the vehicle according to the optimal emergency braking mode includes:

acquiring an emergency braking sign signal corresponding to the optimal emergency braking mode;

when the emergency braking mark signal is a first signal, taking the current torque of the motor controller as the target torque;

when the emergency braking mark signal is a second signal, taking a preset value as the target torque;

outputting a reverse torque as the target torque through the motor controller when the emergency braking flag signal is a third signal;

and when the emergency braking mark signal is a fourth signal, taking the peak torque of the motor as the target torque.

According to an embodiment of the present application, when electrically braking the vehicle according to the target torque, further comprising:

acquiring the current rotating speed of the motor;

and controlling the motor controller to be switched from a torque ring to a rotating speed ring after the current rotating speed is less than a preset rotating speed.

According to an embodiment of the present application, the braking method of a vehicle described above further includes:

identifying whether a stop sign signal sent by the motor controller is received or not;

when a stop sign signal sent by the motor controller is received, the emergency braking sign signal is cleared;

and the motor controller controls the parking mark signal counter to count when the rotating speed of the motor is less than or equal to the preset rotating speed, and sends the parking mark signal to the vehicle control unit when the count value reaches the preset count value.

According to an embodiment of the application, after receiving the stop sign signal sent by the motor controller, the method further comprises:

collecting a slope value of the vehicle at present;

calculating the braking force required by the current parking according to the current gradient value;

and controlling the motor controller according to the braking force required by the current parking.

and when the emergency braking sign signal is the first signal or the second signal, if the braking action of a driver is detected, clearing the emergency braking sign signal.

According to the braking method of the vehicle, the distance between the current vehicle and the front obstacle is collected, the optimal emergency braking mode is matched according to the distance to obtain the target torque of the motor controller of the vehicle, and then the vehicle is electrically braked. From this, the energy that produces when having solved and all releases with the form of heat energy in traditional hydraulic braking system, causes the extravagant scheduling problem of energy, thereby the distance through vehicle and barrier matches different emergency braking modes in order to obtain the target torque in order to realize the electric brake parking, has not only improved electric vehicle's continuation of the journey mileage, and is favorable to slowing down braking system's loss, finally realizes the quick and no shake emergency braking of vehicle.

An embodiment of a second aspect of the present application provides a braking device for a vehicle, including:

the first acquisition module is used for acquiring the distance between the current vehicle and a front obstacle;

the matching module is used for matching the optimal emergency braking mode according to the distance; and

and the braking module is used for acquiring the target torque of the motor controller of the vehicle according to the optimal emergency braking mode and electrically braking the vehicle according to the target torque.

According to an embodiment of the present application, the matching module is specifically configured to:

obtaining a distance interval corresponding to the distance;

According to an embodiment of the application, the braking module is specifically configured to:

According to an embodiment of the application, when electrically braking the vehicle according to the target torque, the braking module is further configured to:

acquiring the current rotating speed of the motor;

According to an embodiment of the present application, the braking device for a vehicle described above further includes:

the identification module is used for identifying whether a stop sign signal sent by the motor controller is received or not;

the first clearing module is used for clearing the emergency braking sign signal while receiving the stop sign signal sent by the motor controller;

the second acquisition module is used for acquiring the current gradient value of the vehicle;

the calculating module is used for calculating the braking force required by the current parking according to the current gradient value;

and the control module is used for controlling the motor controller according to the braking force required by the current parking.

and the second clearing module is used for clearing the emergency braking sign signal if the braking action of the driver is detected when the emergency braking sign signal is the first signal or the second signal.

According to the braking device of the vehicle, the distance between the current vehicle and the front obstacle is collected, the optimal emergency braking mode is matched according to the distance, the target torque of the motor controller of the vehicle is obtained, and then the vehicle is electrically braked. From this, the energy that produces when having solved and all releases with the form of heat energy in traditional hydraulic braking system, causes the extravagant scheduling problem of energy, thereby the distance through vehicle and barrier matches different emergency braking modes in order to obtain the target torque in order to realize the electric brake parking, has not only improved electric vehicle's continuation of the journey mileage, and is favorable to slowing down braking system's loss, finally realizes the quick and no shake emergency braking of vehicle.

An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the braking method of the vehicle as described in the above embodiments.

A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor for implementing a braking method of a vehicle as described in the above embodiments.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a braking method for a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an electric brake based low cost AEB (automatic Emergency Braking) system according to an embodiment of the present application;

FIG. 3 is a flow diagram of a low cost AEB system based on electric braking provided in accordance with an embodiment of the present application;

fig. 4 is an example diagram of a brake device of a vehicle according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A braking method and device for a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the drawings. In order to solve the problem that energy generated during braking in the conventional hydraulic braking system is released in the form of heat energy to cause energy waste, the center of the background art mentioned above provides a vehicle braking method, in which the distance between the current vehicle and the front obstacle is collected, and the optimal emergency braking mode is matched according to the distance to obtain the target torque of a motor controller of the vehicle, so as to electrically brake the vehicle. From this, the energy that produces when having solved and all releases with the form of heat energy in traditional hydraulic braking system, causes the extravagant scheduling problem of energy, thereby the distance through vehicle and barrier matches different emergency braking modes in order to obtain the target torque in order to realize the electric brake parking, and the effectual continuation of the journey mileage that has improved electric vehicle just is favorable to slowing down braking system's loss, finally realizes the quick and no shake emergency braking of vehicle.

Specifically, fig. 1 is a schematic flowchart of a braking method of a vehicle according to an embodiment of the present disclosure.

In this embodiment, as shown in fig. 2, a main system related to a braking method of a vehicle according to an embodiment of the present application includes: the device comprises a distance acquisition device, an AEB controller, a vehicle control unit, a motor controller, a gradient sensor, a rotating speed sensor, a torque sensor and a motor. Wherein, the distance acquisition device is connected with the AEB controller; the AEB controller is connected with the whole vehicle controller; the motor controller is respectively connected with the AEB controller, the motor, the rotating speed sensor and the torque sensor; the gradient sensor is connected with the vehicle control unit.

As shown in fig. 1, the braking method of the vehicle includes the steps of:

in step S101, the distance between the current vehicle and the preceding obstacle is collected.

It should be appreciated that when there is an obstacle in front of the vehicle, if emergency braking is not applied, it is easy to cause a traffic accident.

Therefore, the distance between the current vehicle and the front obstacle can be acquired through the distance acquisition device in the embodiment of the application, wherein the distance acquisition device can be an ultrasonic radar, a millimeter wave radar or other devices (such as a camera and the like) with a distance acquisition function.

It should be noted that, the distance collecting device may be disposed in front of the vehicle, may be disposed on two side rearview mirrors of the vehicle, and may also be disposed at the top of the vehicle, and preferably, in order to collect the distance between the vehicle and the front obstacle more accurately, in the embodiment of the present application, the radar and the camera may be disposed in front of the vehicle, so as to collect the distance between the current vehicle and the front obstacle through the radar and the camera.

In step S102, the optimal emergency braking mode is matched according to the distance.

Further, in some embodiments, matching the optimal emergency braking mode according to distance includes: obtaining a distance interval corresponding to the distance; determining an emergency braking sign signal of the vehicle according to the distance interval; and determining the optimal emergency braking mode according to the emergency braking sign signal.

Specifically, after setting up radar and the camera in vehicle the place ahead and gathering the distance between current vehicle and the place ahead barrier, this application embodiment can be with this data transmission to AEB controller, and four stages can be divided out according to the different distances of the vehicle that receive and place ahead barrier to AEB controller, are respectively: the system comprises a system reminding stage, a pre-braking stage, a partial braking stage and a full-force braking stage, wherein different emergency braking sign signals can be generated in different braking stages and are sent to a vehicle Control Unit (MCU) and the MCU (Micro Control Unit) through matching of the emergency braking sign signals with an optimal emergency braking mode.

Specifically, according to the relevant regulations, the running distance between two vehicles during the running needs to be kept at a safe distance according to the vehicle speed, when the vehicle speed exceeds 100km/h, the safe distance between the front and rear vehicles or between the current vehicle and the obstacle in front should be kept above 100m, and when the vehicle speed is lower than 100km/h, such as 60km/h, the safe distance between the front and rear vehicles or between the current vehicle and the obstacle in front should be kept above 60 m; the vehicle speed is 30km/h, the safe distance between the front vehicle and the rear vehicle or between the current vehicle and the front obstacle is kept above 30m, and the like.

For example, when the distance between the current vehicle and the front obstacle is collected by a radar and a camera which are arranged in front of the vehicle and is 40m-60m, the emergency braking sign signal of the vehicle at the moment is preset as a first signal, and the AEB controller judges the distance between the current vehicle and the front obstacle and judges that the current vehicle is in a system reminding stage; when the distance between the current vehicle and the front obstacle is collected by a radar and a camera which are arranged in front of the vehicle and is 20m-40m, presetting an emergency braking sign signal of the vehicle at the moment as a second signal, and judging the distance between the current vehicle and the front obstacle and judging that the current vehicle is in a pre-braking stage by an AEB controller; when the distance between the current vehicle and the front obstacle is collected by a radar and a camera which are arranged in front of the vehicle and is within 10m-20m, presetting an emergency braking sign signal of the vehicle at the moment as a third signal, and judging the distance between the current vehicle and the front obstacle and judging that the current vehicle is in a partial braking stage by an AEB controller; when the distance between the current vehicle and the front obstacle is collected by the radar and the camera arranged in front of the vehicle and is within 5m-10m, the emergency braking sign signal of the vehicle at the moment is preset to be a fourth signal, and the AEB controller judges the distance between the current vehicle and the front obstacle and judges that the current vehicle is in a full-force braking stage.

It should be noted that the distance section between the current vehicle and the front obstacle is only an example, and the distance section may be a threshold value preset by a user, may be a threshold value obtained through a limited number of experiments, or may be a threshold value obtained through a limited number of computer simulations, and is not specifically limited herein.

In step S103, a target torque of a motor controller of the vehicle is acquired according to the optimal emergency braking mode, and the vehicle is electrically braked according to the target torque.

Further, in some embodiments, obtaining a target torque of a motor controller of a vehicle according to an optimal emergency braking mode includes: acquiring an emergency braking sign signal corresponding to the optimal emergency braking mode; when the emergency braking mark signal is a first signal, taking the current torque of the motor controller as a target torque; when the emergency braking sign signal is a second signal, taking a preset value as a target torque; when the emergency braking sign signal is a third signal, outputting reverse torque as target torque through the motor controller; and when the emergency braking flag signal is a fourth signal, the peak torque of the motor is used as the target torque.

Further, in some embodiments, the braking method of a vehicle described above further includes: and when the emergency braking mark signal is a first signal or a second signal, if the braking action of the driver is detected, clearing the emergency braking mark signal.

Specifically, when the first signal may indicate that the emergency braking flag signal is 0, the AEB controller determines that the current vehicle is in the reminding stage at this time, the MCU target torque no longer follows the torque sent by the vehicle controller, but keeps the torque command sent by the VCU at the last time of entering the AEB state, that is, the current torque of the motor controller is taken as the target torque; when the second signal can be represented as that the emergency braking flag signal is 1, the AEB controller judges that the current vehicle is in a pre-braking stage at the moment, so that a preset value is used as a target torque; when the third signal can be represented as that the emergency braking flag signal is 2, the AEB controller judges that the current vehicle is in a partial braking stage, so that the motor controller outputs a reverse torque as a target torque; the fourth signal may be represented as a sudden braking flag signal of 3, when the AEB controller determines that the current vehicle is in a full force braking phase, thereby setting the peak torque of the motor as the target torque.

Specifically, after the vehicle control unit and the MCU receive the emergency braking flag signal from the AEB controller, the vehicle control unit may shield torque monitoring of the MCU in order to prevent the motor fault lamp from lighting up when the MCU torque value does not follow the change in the vehicle control unit requested torque value. When the vehicle is in the four braking stages, the vehicle controller can make different responses in the following two situations, which are respectively:

(1) if the vehicle controller receives the braking intention of the driver, when the vehicle is in a system reminding stage and a pre-braking stage, the vehicle controller can clear the emergency braking mark signal of the vehicle controller and send the signal for clearing the emergency braking mark to the MCU, so that the MCU exits the emergency braking mode, and the driver can control the running state of the vehicle better; when the vehicle is in a partial braking stage, the reverse torque value of the stage is the braking torque value sent to the MCU by the vehicle control unit, and the driver does not exit the emergency braking mode even if the driver has braking operation in the process; when the vehicle is in a full-force braking stage, namely the final stage of the AEB, the AEB system is quitted, and the normal driving state is recovered.

(2) If the vehicle controller does not receive the braking intention of the driver, when the vehicle is in a system reminding stage at the moment, the MCU target torque does not follow the torque sent by the vehicle controller any more, but keeps triggering a torque command sent by the AEB system at the last moment VCU, namely, the current torque of the motor controller is used as the target torque; when the vehicle is in a pre-braking stage at the moment, the preset value is used as the target torque, the preset value can be set to be 0, namely the MCU target torque is set to be 0, so that the acceleration of the vehicle is 0, and the running speed of the vehicle is reduced; when the vehicle is in a partial braking stage, the reverse torque value of the stage is the maximum torque value corresponding to the rotating speed; when the vehicle is in the full-force braking stage, at the end of the stage, the vehicle should stop at a position where a certain safe distance is kept between the vehicle and the front vehicle, so that the target value of the MCU braking torque in the stage is the maximum target torque value corresponding to the current rotating speed, namely the peak torque of the motor is taken as the target torque. And electrically braking the vehicle by the matched target torque through the four different emergency braking modes to realize rapid and stable parking.

Further, in some embodiments, when electrically braking the vehicle according to the target torque, the method further includes: acquiring the current rotating speed of the motor; and controlling the motor controller to be switched from the torque ring to the rotating speed ring after the current rotating speed is less than the preset rotating speed.

Specifically, in the electric braking process, the MCU receives the current rotating speed and the current torque value of the vehicle, which are acquired by the torque sensor and the rotating speed sensor, and sends the current rotating speed and the current torque value to the vehicle controller, the vehicle controller judges whether the current rotating speed and the current torque value reach the preset rotating speed for requesting the MCU to enter a rotating speed mode or not through the received rotating speed value, and when the rotating speed of the vehicle reaches the preset rotating speed, the vehicle controller requests the MCU to enter an adjusting mode and sets the target rotating speed to be 0. When the current rotating speed of the vehicle is less than or equal to the preset rotating speed, the motor enters a rotating speed ring and the target rotating speed torque is 0. The preset rotation speed may be a threshold preset by a user, may be a threshold obtained through a limited number of experiments, or may be a threshold obtained through a limited number of computer simulations, which is not specifically limited herein. Preferably, the preset rotation speed of the embodiment of the present application may be set to 2RPM, that is, after the current rotation speed of the vehicle is less than or equal to the preset rotation speed of 2RPM, the motor enters the rotation speed loop and the target rotation speed torque is 0.

Further, in some embodiments, the braking method of a vehicle described above further includes: identifying whether a stop sign signal sent by a motor controller is received or not; when a stop sign signal sent by a motor controller is received, an emergency braking sign signal is cleared; the motor controller controls the parking sign signal counter to count when the rotating speed of the motor is less than or equal to the preset rotating speed, and sends a parking sign signal to the whole vehicle controller when the count value reaches the preset count value.

Specifically, after the current rotating speed of the vehicle is less than or equal to the preset rotating speed of 2RPM, the motor controller controls the parking mark signal counter to count, and sends the parking mark signal to the vehicle controller when the count value reaches the preset count value. The preset count value may be a threshold preset by a user, may be a threshold obtained through a limited number of experiments, or may be a threshold obtained through a limited number of computer simulations, which is not specifically limited herein. Preferably, the preset count value of the embodiment of the present application may be 200, that is, when the count value reaches 200, the motor controller sends a parking flag signal to the vehicle control unit. And when the vehicle control unit identifies and receives the stop sign signal sent by the motor controller, the emergency braking sign signal is cleared at the same time.

Further, in some embodiments, after receiving the stop sign signal sent by the motor controller, the method further includes: collecting the current slope value of the vehicle; calculating the braking force required by the current parking according to the current gradient value; and controlling the motor controller according to the current braking force required by parking.

Specifically, after the vehicle control unit receives a stop sign signal sent by the motor controller, according to information such as a slope value of a road section where a current vehicle is located and collected by a slope sensor arranged in the vehicle, a corresponding torque instruction is sent to the MCU after a braking force required by the current parking is calculated, so that a situation that the vehicle does not slide down after being stopped is ensured, and finally, quick and shake-free emergency electric braking of the vehicle is realized.

In summary, as shown in fig. 3, fig. 3 is a flowchart of an embodiment of the present application of a low-cost AEB system based on electric braking, which includes the following steps:

s301, the distance between the vehicle and the front obstacle is collected by the radar and the camera and sent to the AEB controller.

And S302, the AEB sends different emergency braking sign signals to the vehicle control unit and the MCU according to the received distance between the vehicle and the front obstacle.

And S303, the vehicle controller quits the torque monitoring of the MCU after receiving the emergency braking instruction, and the MCU sets a torque target value according to different emergency braking torques to realize the electric braking of the vehicle.

S304, the vehicle controller monitors the rotating speed of the motor, once the rotating speed reaches a preset rotating speed value, the MCU is requested to enter a rotating speed mode and set the target rotating speed to be 0, and finally, the vehicle is rapidly stopped without shaking, and emergency electric braking is realized.

According to the braking method of the vehicle, the distance between the current vehicle and the front obstacle is collected, the optimal emergency braking mode is matched according to the distance to obtain the target torque of the motor controller of the vehicle, and then the vehicle is electrically braked. From this, the energy that produces when having solved and all releases with the form of heat energy in traditional hydraulic braking system, causes the extravagant scheduling problem of energy, thereby the distance through vehicle and barrier matches different emergency braking modes in order to obtain the target torque in order to realize the electric brake parking, and the effectual continuation of the journey mileage that has improved electric vehicle just is favorable to slowing down braking system's loss, finally realizes the quick and no shake emergency braking of vehicle.

Next, a brake device for a vehicle according to an embodiment of the present application will be described with reference to the drawings.

Fig. 4 is a block schematic diagram of a brake device of a vehicle according to an embodiment of the present application.

As shown in fig. 4, the brake apparatus 10 of the vehicle includes: a first acquisition module 100, a matching module 200, and a braking module 300.

The first acquisition module 100 is configured to acquire a distance between a current vehicle and a front obstacle;

the matching module 200 is used for matching the optimal emergency braking mode according to the distance; and

the braking module 300 is configured to obtain a target torque of a motor controller of the vehicle according to the optimal emergency braking mode, and electrically brake the vehicle according to the target torque.

Further, in some embodiments, the matching module 200 is specifically configured to:

obtaining a distance interval corresponding to the distance;

Further, in some embodiments, the braking module 300 is specifically configured to:

when the emergency braking mark signal is a first signal, taking the current torque of the motor controller as a target torque;

when the emergency braking sign signal is a second signal, taking a preset value as a target torque;

when the emergency braking sign signal is a third signal, outputting reverse torque as target torque through the motor controller;

and when the emergency braking flag signal is a fourth signal, the peak torque of the motor is used as the target torque.

Further, in some embodiments, the braking module 300, when electrically braking the vehicle according to the target torque, is further configured to:

acquiring the current rotating speed of the motor;

and controlling the motor controller to be switched from the torque ring to the rotating speed ring after the current rotating speed is less than the preset rotating speed.

Further, in some embodiments, the braking device 10 of the vehicle further includes:

the motor controller controls the parking sign signal counter to count when the rotating speed of the motor is less than or equal to the preset rotating speed, and sends a parking sign signal to the whole vehicle controller when the count value reaches the preset count value.

Further, in some embodiments, after receiving the stop sign signal sent by the motor controller, the method further includes:

According to the braking device of the vehicle, the distance between the current vehicle and the front obstacle is collected, the optimal emergency braking mode is matched according to the distance, the target torque of the motor controller of the vehicle is obtained, and then the vehicle is electrically braked. From this, the energy that produces when having solved and all releases with the form of heat energy in traditional hydraulic braking system, causes the extravagant scheduling problem of energy, thereby the distance through vehicle and barrier matches different emergency braking modes in order to obtain the target torque in order to realize the electric brake parking, and the effectual continuation of the journey mileage that has improved electric vehicle just is favorable to slowing down braking system's loss, finally realizes the quick and no shake emergency braking of vehicle.

Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.

The processor 502, when executing the program, implements the braking method of the vehicle provided in the above-described embodiments.

Further, the vehicle further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

A memory 501 for storing computer programs that can be run on the processor 502.

The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.

The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the braking method of the vehicle as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A braking method of a vehicle, characterized by comprising the steps of:

collecting the distance between a current vehicle and a front obstacle;

matching an optimal emergency braking mode according to the distance; and

2. The method of claim 1, wherein said matching an optimal emergency braking mode based on said distance comprises:

obtaining a distance interval corresponding to the distance;

3. The method of claim 2, wherein said obtaining a target torque of a motor controller of the vehicle in accordance with the optimal emergency braking mode comprises:

4. The method of claim 1, further comprising, when electrically braking a vehicle in accordance with the target torque:

acquiring the current rotating speed of the motor;

5. The method of claim 4, further comprising:

6. The method of claim 5, further comprising, after receiving a stop sign signal sent by the motor controller:

collecting a slope value of the vehicle at present;

7. The method of claim 3, further comprising:

8. A brake apparatus for a vehicle, characterized by comprising:

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of braking a vehicle as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a braking method of a vehicle according to any one of claims 1-7.